diff --git a/.gitmodules b/.gitmodules
index dc9e183976..fe09b6399c 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -38,3 +38,6 @@
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/GpsDrivers.git
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = git://github.com/mavlink/c_library.git
diff --git a/Tools/check_submodules.sh b/Tools/check_submodules.sh
index c32ec83a78..624213097d 100755
--- a/Tools/check_submodules.sh
+++ b/Tools/check_submodules.sh
@@ -69,6 +69,7 @@ check_git_submodule Tools/jMAVSim
 check_git_submodule Tools/sitl_gazebo
 check_git_submodule cmake/cmake_hexagon
 check_git_submodule mavlink/include/mavlink/v1.0
+check_git_submodule mavlink/include/mavlink/v2.0
 check_git_submodule src/lib/DriverFramework
 check_git_submodule src/lib/DriverFramework/cmake/cmake_hexagon
 check_git_submodule src/lib/DriverFramework/dspal
diff --git a/mavlink/include/mavlink/v2.0 b/mavlink/include/mavlink/v2.0
new file mode 160000
index 0000000000..83015b3391
--- /dev/null
+++ b/mavlink/include/mavlink/v2.0
@@ -0,0 +1 @@
+Subproject commit 83015b3391a42d46be5dcca08bf01360e17f7b40